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reedhedges / AriaCoda

Fork and continuation of the old ARIA library for use with Pioneer-compatible mobile robots. AriaCoda is based on the GPL-licensed ARIA library from MobileRobots Inc, which is no longer maintained. Various bug fixes, changes and improvements have been made. See README.md for more infor
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Compile error with gcc 5.4.0 (Ubuntu Xenial) #11

Closed reedhedges closed 2 years ago

reedhedges commented 2 years ago

Building AriaCoda (at revision a3f4e40) on Ubuntu 16.04 Xenial (gcc version 5.4.0) with:

make EXTRA_CXXFLAGS=-DARIA_OMIT_DEPRECATED_MATH_FUNCS

results in these errors in ariaUtil.h:

g++ -c -std=c++14 -g -O2 -Wall -Wextra -Wshadow -Wpedantic -Wsign-conversion -Wconversion -Woverloaded-virtual  -D_REENTRANT   -fPIC -fno-exceptions -DARIA_OMIT_DEPRECATED_MATH_FUNCS  -Iinclude  -DARIABUILD src/ArAction.cpp -o obj/ArAction.o
In file included from include/Aria/ArActionDesired.h:28:0,
                 from include/Aria/ArResolver.h:28,
                 from src/ArAction.cpp:26:
include/Aria/ariaUtil.h:2167:18: error: enclosing class of constexpr non-static member function ‘bool ArLineSegment::linePointIsInSegment(const ArPose&) const’ is not a literal type
   constexpr bool linePointIsInSegment(const ArPose& pose) const
                  ^
include/Aria/ariaUtil.h:1956:7: note: ‘ArLineSegment’ is not literal because:
 class ArLineSegment
       ^
include/Aria/ariaUtil.h:1956:7: note:   ‘ArLineSegment’ is not an aggregate, does not have a trivial default constructor, and has no constexpr constructor that is not a copy or move constructor
reedhedges commented 2 years ago

So based on comments found on the internet this seems like it might technically be a bug in g++ version 5.

  1. AriaCoda will build with clang 3.8 (if you update to include the recently-comitted 42657e5) (you can set CXX variable when running make to "clang++") (you can install clang 3.8 on Xenial with sudo apt install clang)
  2. I could move the constexpr related stuff to a parallel branch (since most typical code probably isn't using much of it.)
  3. Or abandon Xenial support and use a newer Ubuntu version as minimum supported version.

Let me know what you think

reedhedges commented 2 years ago

Or,

  1. Use the preprocessor to detect gcc version and omit constexpr from any problematic places in ariaUtil (i.e. ArLineSegment and getRandMax()). (There is already a bunch of this kind of preprocessor trickery in Aria.)
reedhedges commented 2 years ago

Should be fixed in 3482f97